Vehicular driver assist system with adjustable display

ABSTRACT

A vehicular driver assist system includes a sensor disposed at a vehicle and a display disposed at the vehicle and viewable by a driver of the vehicle. An electronic control unit (ECU) includes a processor for processing sensor data captured by the sensor to detect presence of objects in the field of view of the sensor. The vehicular driver assist system, responsive to processing by the processor of sensor data captured by the sensor, determines presence of a driver of the vehicle and determines a position of the driver&#39;s head. The vehicular driver assist system, responsive to determining the position of the driver&#39;s head, adjusts an orientation of the display based on the determined position of the driver&#39;s head to increase visibility of the display for the driver.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application claims the filing benefits of U.S. provisionalapplication Ser. No. 63/199,836, filed Jan. 28, 2012, U.S. provisionalapplication Ser. No. 63/199,817, filed Jan. 27, 2021, and U.S.provisional application Ser. No. 63/199,724, filed Jan. 20, 2021, whichare hereby incorporated herein by reference in their entireties.

FIELD OF THE INVENTION

The present invention relates generally to a vehicle vision system for avehicle and, more particularly, to a vehicle vision system that utilizesone or more cameras at a vehicle.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or 5,550,677, which are hereby incorporatedherein by reference in their entireties.

SUMMARY OF THE INVENTION

A driving assistance system or vision system or imaging system for avehicle may include at least one sensor disposed at a vehicle equippedwith the vehicular driver assist system and viewing interior of thevehicle. The at least one sensor captures sensor data. The systemincludes one or more displays disposed at the vehicle and viewable bythe driver of the vehicle when the driver is driving the vehicle and anelectronic control unit (ECU) including electronic circuitry andassociated software. The electronic circuitry of the ECU includes aprocessor for processing sensor data captured by the at least one sensorto detect presence of objects in the field of view of the sensor. Thesystem, responsive to processing by the processor of sensor datacaptured by the at least one sensor, determines presence of a driver ofthe vehicle. The system, responsive to processing by the processor ofsensor data captured by the at least one sensor, determines a positionof at least a portion of the driver's head and/or determines a gazedirection of the driver's eyes. The system, responsive to determiningthe position of the at least a portion of the driver's head and/or gazedirection, adjusts an orientation or location of one of the one or moredisplays.

Optionally, the system utilizes one or more cameras (preferably one ormore CMOS cameras disposed at an in-cabin side of the vehicle windshieldand viewing through the windshield forward of the vehicle) to captureimage data representative of images exterior of the vehicle, andprovides captured image data to a first electronic control unit (ECU)comprising electronic circuitry and associated software. The electroniccircuitry of the first ECU includes an image processor for processingimage data captured by the camera to detect presence of objects in thefield of view of the camera. The system also includes a second ECUincluding electronic circuitry and associated software and theelectronic circuitry of the second ECU includes an image processor forenhancing image data captured by the camera. The system includes adisplay disposed within the vehicle for displaying frames of image data.The system, such as at the first ECU, responsive to processing by theimage processor of image data captured by the camera, detects objectsfor an object detection function of the vehicle. The system, such as atthe second ECU, responsive to a navigation function of the vehicle,enhances frames of captured image data with a graphical overlay. Thesystem displays the enhanced frames of captured image data with thegraphical overlay at the display.

Optionally, the system includes a first sensor disposed at the vehicleand sensing exterior of the vehicle. The first sensor captures sensordata. The system also includes a second sensor disposed at a vehicleequipped with the vehicular control system and sensing interior of thevehicle. The second sensor captures sensor data. The system alsoincludes an electronic control unit (ECU) with electronic circuitry andassociated software. The electronic circuitry of the ECU includes aprocessor for processing sensor data captured by the first sensor andthe second sensor. The system, when the vehicle is empty of occupants,enables a door mode. The system, when the door mode is enabled, andresponsive to a user approaching the vehicle, and responsive toprocessing by the processor of sensor data captured by the first sensor,determines that the user exterior of the vehicle is authorized to accessthe cabin of the vehicle. The system, responsive to the user enteringthe vehicle, disables the door mode and enables a cabin mode. Thesystem, when the cabin mode is enabled, and responsive to processing bythe processor of sensor data captured by the second sensor, determinesthat the user is authorized to operate the vehicle.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a vehicle with an imaging system thatincorporates cameras viewing exterior of the vehicle and cameras viewinginterior of the vehicle;

FIG. 2 is a perspective view of a cabin of the vehicle equipped with theimaging system;

FIG. 3 is a block diagram of the imaging system of FIG. 2.

FIG. 4 is a perspective view of a vehicle with a driver assist systemthat incorporates a vehicular vision system;

FIG. 5 is a block diagram of an imaging system of processing image dataat a secondary ECU to enhance or modify the captured image data;

FIG. 6 is a perspective view of the cabin of the vehicle of FIG. 4equipped with the image system of FIG. 5;

FIG. 7 is a perspective view of a vehicle with a vision system thatincorporates a vehicular control system;

FIG. 8 is a block diagram of a sensor system processing captured sensordata to determine whether a user is authorized to access the cabin ofthe vehicle and whether the user is authorized to operate the vehicle;

FIG. 9 is a perspective view of the vehicle of FIG. 7 equipped with thesensor system of FIG. 8 and biometric sensors disposed at the exteriorof the vehicle; and

FIG. 10 is a perspective view of the cabin of the vehicle of FIG. 7equipped with the sensor system of FIG. 8 and biometric sensors disposedat the interior of the vehicle.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A vehicle vision system and/or driver or driving assist system and/orobject detection system and/or alert system operates to capture imagesexterior of the vehicle and may process the captured image data todisplay images and to detect objects at or near the vehicle and in thepredicted path of the vehicle, such as to assist a driver of the vehiclein maneuvering the vehicle in a rearward direction. The vehicle visonsystem may operate to capture data of an interior of the vehicle and mayprocess the data to detect objects and occupants within the vehicle. Thevision system includes an image processor or image processing systemthat is operable to receive image data from one or more cameras andprovide an output to a display device for displaying imagesrepresentative of the captured image data. Optionally, the vision systemmay provide display, such as a rearview display or a top down or bird'seye or surround view display or the like.

Referring now to the drawings and the illustrative embodiments depictedtherein, a vehicle 10 includes a sensing system or driver assist systemor driving assist system 12 that includes at least one interior viewingimaging sensor or camera, such as a rearview mirror imaging sensor orcamera 16 (FIG. 1). Optionally, an interior viewing camera may bedisposed at the windshield of the vehicle. Optionally, the system 12includes one or more exterior viewing imaging sensors or cameras 14,such as a forward viewing camera 14 b at the front of the vehicle, and asideward/rearward viewing camera 14 c, 14 d at respective sides of thevehicle, and a rearward viewing camera 14 a at the rear of the vehicle,and each camera 14 respectively captures images exterior of the vehicle.The camera or cameras each include a lens for focusing images at or ontoan imaging array or imaging plane or imager of the camera. Optionally,the system 12 may include a forward viewing imaging sensor or camera 14e, which may be disposed at and behind the windshield 22 of the vehicleand viewing forward through the windshield 22 so as to capture imagedata representative of the scene occurring forward of the vehicle. Theforward viewing camera 14 e disposed at the windshield 22 of the vehicle10 views through the windshield 22 and forward of the vehicle, such asfor a machine vision system (such as for traffic sign recognition,headlamp control, pedestrian detection, collision avoidance, lane markerdetection and/or the like). Optionally, the vision system 12 includes atleast one exterior viewing imaging sensor or camera 14 f disposed at,for example, the windshield 22, an A-pillar or B-pillar 24, or a door 26of the vehicle 10. The vision system 12 includes a control or electroniccontrol unit (ECU) 18 having electronic circuitry and associatedsoftware, with the electronic circuitry including a data processor orimage processor that is operable to process image data captured by thesensor or camera or cameras, whereby the system, such as via processingat the ECU, may detect or determine presence of objects or the like. Thedata transfer or signal communication from the sensor or camera to theECU may comprise any suitable data or communication link, such as avehicle network bus or the like of the equipped vehicle.

Referring now to FIG. 2, implementations herein include a driver assistor driving assist system 12 that includes multiple digital displayadjustments to increase driver or operator comfort. As technologyadvances, new features are being incorporated into vehicles, such asdigital displays, touch displays, driver monitoring systems, cabinmonitoring systems, etc. The driver assist system 12 utilizes thesetechnologies in combination to provide additional comfort features tothe driver and/or passengers. The system uses a driver monitoring system(DMS) and/or occupant monitoring system (OMS) along with face trackingand/or eye gaze angle tracking inputs to automatically adjust displayview position of displays (e.g., head-up displays 28, cluster displays30, infotainment/center console displays 32, rear view mirror displays34, etc.) in the vehicle for a better viewing experience for theoccupant(s). The system may improve comfort for the driver or operatorof the vehicle. Additionally or alternatively, the system may improvecomfort for other occupants of the vehicle.

Components of the driver assist system may be disposed at or installedat a variety of locations throughout the cabin. For example, sensors fortracking occupant head position and/or eye gaze angle may be disposed ata location at or above the dash, at the rearview mirror assembly, at ornear the instrument cluster, etc. As shown in FIG. 3, an exemplarymethod 300 of operations undertaken by the system 12 tracks, for examplea user's gaze, and adjusts a display of the vehicle accordingly (i.e.,adjusts the display such that the driver has better visibility of thedisplay from the driver's current head and eye position). The system 12may first use one or more sensors (e.g., an image sensor such as acamera) to detect the presence of the driver (or other occupant). Whenthe driver is detected, the camera or image sensor captures image datarepresentative of at least a portion of the driver's head, pose, and/oreye gaze and the system processes the captured image data to determineor measure, for example, the head position and/or eye gaze angle of thedriver.

The system may determine the driver's head position and/or eye gazeangle relative to predefined coordinates. For example, the system maydisplay images at the display screen in a default orientation (i.e.,default angle of the display screen or default orientation of thedisplay screen) based on default coordinates within the vehicle thatcorrespond to a common or default head position of the driver and adjustthe display based on a difference between the driver's head position oreye gaze angle relative to the predefined or default coordinates. Thecamera may capture the image data responsive to the system detecting thedriver or occupant (e.g., when or before the vehicle is started) and thesystem may automatically adjust the display screen position based on thedetermined driver position. Optionally, a manual adjust option for thedisplay or displays is included for the driver/occupant to adjust thedisplays as needed (in addition to the automatic adjustment option) orthe system may include a user actuatable input for activating the systemto adjust the display based on the driver's head position and/or eyegaze angle.

The input data provided from driver monitoring system/occupantmonitoring system (e.g., inputs regarding the head position of one ormore occupants of the vehicle or eye gaze angles of one or moreoccupants) may be provided to one or more different display ECUs thatautomatically adjust view position of the display units for betterviewing experience for the driver. The display ECUs may be independentor part of a master or primary ECU. Thus, the system may change theorientation (e.g., rotate about one or more axis) of one or moredisplays disposed within the cabin of the vehicle based on sensor datathat captures information regarding one or more occupants of the vehicleand other parameters (e.g., predefined coordinates with respect to headposition and eye gaze angles). The displays may include motorscontrolled by the display ECUs that rotate or otherwise adjust thedisplay screen relative to the occupant such that the occupant canbetter view the display from his or her current position (e.g., based onthe height of the occupant, the seat position of the occupant, etc.).Optionally, the system may shift display of information or images fromdisplay at one display screen or device to display at another displayscreen or device (e.g., shift display of information from a displayscreen at the center console of the vehicle to a display screen at theinterior rearview mirror assembly of the vehicle). Optionally, thesystem may digitally adjust the images provided at one or more displayscreens, such as to tilt or rotate or pivot the provided images, basedon the position and viewing angle of the driver or occupant.

The system thus may adjust the position and/or orientation of thedisplay responsive to determination of the driver's head or eyes or gazedirection. For example, the system may adjust a projected location of aheads up display responsive to such determination, so that the displayis projected in front of the driver at a location that is based on theposition of the driver's head and/or eyes and that is thus optimized forthe driver to see and understand. Thus, the system may adjust the headsup display based on the driver's gaze angle, such as to overlayinformation with corresponding detected objects in the driver's field ofview, such as to overlay information at or near detected road signs.

The system may adjust the displays at startup and optionally maycontinually update the displays or may episodically update the displaysat regular intervals for as long as the vehicle is operated. Optionally,the user may actuate a user input (e.g., a button) to activate thesystem to perform a one-time adjustment or to enable/disable continuousadjustment.

Different displays may be oriented to face different occupants. Forexample, a cluster display 30 may be oriented to best present to thedriver or operator of the vehicle while the infotainment display 32 maybe oriented to best present to an occupant in a passenger seat. Thesystem may provide user inputs to select which occupants are assigned towhich displays. The system may automatically detect each occupant of thevehicle using any number of sensors (i.e., pressure sensors, infraredsensors, image sensors, ultrasonic sensors, etc.), and may adjust therespective display according to a determined head and eye position orgaze direction of the respective occupant.

Optionally, the system may process image data captured by the one ormore cameras of the vehicle to display enhanced, modified, and/oradjusted images derived from the captured image data. For example, thesystem may display images at the display of the vehicle with graphicaloverlays or with portions of the image data modified to improvevisibility of detected objects.

Referring to FIG. 4, a vision system 110 for a vehicle 112 includes atleast one exterior viewing imaging sensor or camera 116, such as aforward viewing imaging sensor or camera, which may be disposed at andbehind the windshield 114 of the vehicle and viewing forward through thewindshield so as to capture image data representative of the sceneoccurring forward of the vehicle (FIG. 4). Optionally, the system mayinclude multiple exterior viewing imaging sensors or cameras, such as aforward viewing camera at the front of the vehicle, and asideward/rearward viewing camera at respective sides of the vehicle, anda rearward viewing camera at the rear of the vehicle, which captureimages exterior of the vehicle. The camera or cameras each include alens for focusing images at or onto an imaging array or imaging plane orimager of the camera. The forward viewing camera disposed at thewindshield of the vehicle views through the windshield and forward ofthe vehicle, such as for a machine vision system (such as for trafficsign recognition, headlamp control, pedestrian detection, collisionavoidance, lane marker detection and/or the like). The vision system 110includes a control or electronic control unit (ECU) having electroniccircuitry and associated software, with the electronic circuitryincluding a data processor or image processor that is operable toprocess image data captured by the camera or cameras, whereby thesystem, such as via processing at the ECU, may detect or determinepresence of objects or the like and/or the system provide displayedimages at a display device for viewing by the driver of the vehicle. Thedata transfer or signal communication from the camera to the ECU maycomprise any suitable data or communication link, such as a vehiclenetwork bus or the like of the equipped vehicle. The system may includeone or more displays 120 (e.g., at a rearview mirror 118). Augmentedreality (AR) is commonly defined as an interactive experience thatblends a real-world environment with computer-generated or enhancedobjects. The system 110 may capture frames of image data using the frontcamera module (FCM) 116 such as a camera mounted at the windshield 114as illustrated in FIG. 1 (and optionally image data is captured by oneor more of the other cameras disposed at the vehicle). The capturedframes of image data are passed in “real-time” (i.e., “live” frames ofcaptured image data that are representative of the scene the driver orother occupant of the vehicle is currently viewing) to a navigationsystem of the vehicle. The navigation system modifies or adjusts orenhances the captured frames of image data by adding graphical overlayson the frames (e.g., using AR principles). The navigation systemdisplays these modified or adjusted or enhanced frames of captured imagedata to the occupant via a display disposed within the vehicle (e.g., acluster display 130, an infotainment display 132, a rearview mirrordisplay 134, etc.). Thus, the system captures image data using theforward viewing camera of the vehicle, and processes the captured imagedata to provide video images having a graphical overlay at a display ofthe vehicle.

Referring now to FIG. 5, the vehicle, in some examples, is equipped withthe windshield-mounted forward viewing camera or front camera module(FCM) 116 for any number of advanced driver-assistance systems (ADAS)such as object detection, pedestrian detection, collision avoidance andmitigation, lane keep assist, traffic sign recognition and/or automaticheadlamp control and/or the like. For example, the FCM 116 capturesframes of image data that are processed by one or more ECUs (oroptionally one or more processors at the ECU 18) to provide one or moreADAS related functions such as object detection. Although the imageprocessor is shown as part of the front camera module 116, it should beunderstood that the image processor may be at the ECU 18, which may bedisposed remote from the front camera module 116. In addition to theseADAS functions, the FCM 116 provides captured frames of image data via,for example, a coaxial cable, to a navigation and/or infotainment orsecondary ECU 130. The navigation ECU 130 may be separate andindependent from the ADAS or main or primary ECU 18 or the processingfunctions for the ADAS functions and/or the navigation/infotainmentfunctions may be provided as a single or common ECU. In some examples,the navigation ECU 130 modifies or adjusts or enhances the images (e.g.,by overlaying graphical information on the captured frames of imagedata) based on current navigation data (e.g., a current navigationroute) and transmits the modified or adjusted or enhanced frames to thedisplay 118 for displaying the enhanced frames of image data. FIG. 6provides an exemplary interior view of a vehicle including the driverassist system. As shown in FIG. 6, the front camera module 116 isdisposed at the windshield of the vehicle and is connected to the ECUvia a coaxial cable (preferably routed through the headliner and one ofthe A-pillars of the vehicle to avoid impeding visibility through thewindshield or windows). The navigation ECU is located at or near thenavigation/infotainment display screen. However, the camera, navigationECU, and display may be disposed anywhere at or within the vehicle.

The system may enhance the captured frames of image data with a varietyof data or information. For example, the navigation ECU and the systemmay provide for display at the display screen direction indications(e.g., an arrow indicating a street to turn on or a lane to switch to),road information (e.g., speed limits and other road or traffic rules),or any other information that may be useful to the driver, such asweather information and information regarding other vehicles or detectedobjects (e.g., pedestrians). For example, when the current navigationroute (e.g., entered by the driver) indicates that the driver shouldturn right on an upcoming street, the ECU may enhance captured frames ofimage data (as captured by the FCM) to add an arrow pointing to thestreet the driver should turn on. The enhancements may flash, move,change color, etc. to draw the driver's attention or indicate additionalinformation (such as a direction to maneuver). The enhanced frames ofimage data may be accompanied by various audio and/or haptic feedbackand/or notifications and/or warnings. The system may enhance frames ofimage data even when there is not a current navigation route. Forexample, the system may overlay points of interest, street names, etc.to continually provide the driver or other occupants increasedfunctionality.

The system may receive frames of captured image data from multipledifferent cameras and provide multiple different views. Additionally oralternatively, the system may merge the views from multiple cameras toprovide a virtual point of view (e.g., a bird's-eye view) and enhancethe frames of image data representing the virtual point of view in asimilar manner. For example, when parking, the system may display avirtual point of view from above the vehicle and add graphical overlaysto help mark the parking spot or other vehicles, add distances to otherobjects, etc.

As discussed above, the system may utilize one or more ECUs and/orprocessors at a single ECU. The system may process provided image dataat a dedicated infotainment or navigation ECU or processor to providethe graphical overlays to preserve processing power at the main imageprocessor for processing the image data. For example, the one or morecameras at the vehicle may capture image data and provide the capturedimage data to an image processor at an ECU of the vehicle. The systemmay process the captured image data to provide images (such as videoimages) for a variety of different functions of the vehicle, such asheads up display, rear backup images, etc. Only some of these displaysmay require or benefit from enhancement or modification from thesecondary ECU, and thus only that portion of the image data may beprocessed at the secondary ECU prior to being provided at the display ofthe vehicle. Images that do not receive enhancement or modification maybypass the secondary ECU and be displayed at the vehicle. Thus, theprimary ECU may process all image data while the secondary ECU mayprocess only the image data intended to receive modification orenhancement.

Thus, the driver assist system incorporates additional functionalityinto an already existing FCM to allow for the use of augmented realityor enhanced navigation without the need for an additional camera orother hardware. The system graphically enhances captured frames of imagedata (captured by a forward viewing camera (e.g., camera 116) as thevehicle is driven forward along a road) to provide to the driver orother occupants of the vehicle enhanced navigation services such as byadding graphic overlays onto frames of captured image data so that thegraphic overlays (such as arrows or driving instructions or the like)and video images are viewed together at the display screen.

Optionally, a vehicular access system 210 of a vehicle 212 may beconfigured to process sensor data, such as from the one or more exteriorviewing and interior viewing cameras 211 at the vehicle (e.g., disposedat a windshield 214), to determine whether to grant access to the cabinof the vehicle and whether to allow an occupant of the vehicle tooperate the vehicle.

As described below, the vehicular access system may control (i.e., limitor allow) access to the cabin of the vehicle 212 (e.g., locking orunlocking the doors) and control operation of the vehicle (e.g.,enabling ignition) using portions of advanced driver assistance systems(ADAS) such as driver monitoring systems and/or cabin monitoring systemsalong with other biometric systems such as a fingerprint scanner and/orvoice recognition systems to provide additional security against anytheft or other unauthorized access to the vehicle.

FIG. 8 depicts an exemplary flowchart 800 of an optional aspect of thesystem that includes determining whether to grant access to the vehicleto a user and whether the user is authorized to operate the vehicle.Referring now to FIGS. 8 and 9, when the vehicle is empty (i.e., doesnot have occupants), is switched off, and/or is locked, the vehicleaccess system may enable a door mode. Optionally, when a user approachesthe locked vehicle with an authorized key fob, mobile device, etc.(i.e., the user is within a threshold proximity of the vehicle with theauthorized key fob), the system may employ one or more functions toconfirm that the user of the key fob is an authorized user. For example,the system may operate a biometric sensor or system, such as a facialrecognition camera, a fingerprint scanner, and/or a voice recognitionsystem, etc., to determine whether the user is authorized to enter thevehicle. For example, image data captured by the exterior viewing camera216 (FIG. 9) may be processed to determine or recognize facial features.The camera or sensor 216 may be placed on the driver door or side of thevehicle 212 (such as at an upper region of the door frame or at thedriver-side B-pillar of the vehicle or the like) and may attempt torecognize the face of the driver as an authorized user of the vehicle(such as by comparing determined features of the person to a storeddatabase of features of authorized users). Similarly, a fingerprintsensor (e.g., on or near the door handle) may attempt to recognize thedriver when the door handle is grasped. In yet another example, thedriver may speak a word or phrase so that the voice recognition systemrecognizes that the driver is authorized to enter the vehicle. In otherwords, responsive to a determining or sensing that an authorized key fobis within range of the door of the vehicle, the system may capturebiometric data representative of an identify of a user attempting toaccess the vehicle. The system processes the captured biometric data todetermine whether the user is authorized to access the cabin of thevehicle. The system may employ one or more functions either inconjunction or best combination or as separate security features. Whenone or more of these functions recognize the driver as an authorizeduser, the vehicular control system unlocks and/or opens a door of thevehicle or otherwise grants access to the interior (i.e., the cabin) ofthe vehicle. If the system determines that the user is an unauthorizeduser or the system does not recognize that the user is an authorizeduser, the system does not grant access to the vehicle. Further, thesystem may lock the vehicle (if not already locked), activate an alarmsystem of the vehicle, store the captured biometric data at memorystorage of the system (for future identification of the unauthorizedperson that attempted to access the vehicle), and/or communicate analert message to an owner of the vehicle regarding the unauthorizedattempt to access the vehicle.

Thus, the system may include one or more sensors at the exterior of thevehicle and configured to capture sensor data. For example, and as shownin FIG. 9, the vehicle may have a facial recognition camera 216configured to view a head region of a user approaching the vehicle. Thefacial recognition camera 216 may be positioned at the door of thevehicle (driver and optionally passenger side), at the door frame of thevehicle (such as at the A-pillar or B-pillar or roof directly above thedoor), or elsewhere at the side of the vehicle, such as the exteriorrearview mirror assembly 236. Optionally, the facial recognition cameramay be disposed interior the vehicle and view exterior the vehicle (suchas through the windshield or a side window of the vehicle). For example,the forward viewing camera 211 at the windshield 212 of the vehicle maycomprise the facial recognition camera or the facial recognition cameramay be disposed at the dashboard of the vehicle and view through theside windows of the vehicle. A fingerprint scanner or sensor 238 may bedisposed in any suitable position for capturing fingerprint data from auser, such as at the door or door handle of the vehicle. A microphone240 may be disposed in any suitable position for capturing audio datarepresentative of a user's voice exterior the vehicle, such as at theside or door of the vehicle.

Optionally, the system may receive the captured sensor data forauthorizing a user for access to the vehicle from a sensor remote fromthe vehicle and in communication with the system of the vehicle. Forexample, the key fob or other mobile device (e.g., a mobile phone) maycapture sensor data and communicate the captured sensor data to thesystem for authorization to access the vehicle. The key fob may comprisea mobile device.

Referring now to FIGS. 8 and 10, once the driver or occupant is withinthe vehicle, the vehicle control system may disable the security or doormode and enable a cabin mode. For example, after granting access to thevehicle, the system may detect presence of a driver or occupant in thevehicle and enable the cabin mode (e.g., via cameras, seat sensors,microphones, etc.). In the cabin mode, the system may use the samefunctions (e.g., biometric sensors such as a facial recognition camera,a fingerprint scanner, a voice recognition system, etc.) or differentfunctions to determine whether the occupant (that is now in the vehicle)is authorized to start and/or operate the vehicle. That is, the systemmay detect the occupant's face or receive other biometric information(e.g., a fingerprint, voice, etc.) to determine that the occupant mayturn on the ignition and operate the vehicle. The system may use thesame sensors as the ones employed for the door mode or may use separatesensors (e.g., sensors disposed specifically within the cabin) for thecabin mode. For example, a first facial recognition camera 211 may havea field of view that encompasses the driver seat of the vehicle and asecond facial recognition camera 216 may have a field of view thatencompasses an area exterior of the driver door. The first facialrecognition camera 211 comprises the driver monitoring camera disposedat the rearview mirror assembly of the vehicle, but may be disposed inany suitable position at the interior cabin of the vehicle. Responsiveto determining that the occupant of the vehicle is authorized to startor operate the vehicle, the system may enable the vehicle or turn thevehicle on (i.e., activate the ignition).

Thus, the system may include one or more sensors at the interior of thevehicle and configured to capture sensor data. For example, and as shownin FIG. 10, the vehicle 212 may have the facial recognition camera 211(i.e., a camera that captures image data that is processed to determinefacial features) configured to view a head region of a user within thevehicle, such as seated in the driver seat. The facial recognitioncamera 211 may comprise a driver or occupant monitoring camera that ispart of a driver or occupant monitoring system of the vehicle. Thefacial recognition camera 211 may be integrated into the rear viewmirror or may be a stand-alone system. A fingerprint scanner or sensor242 may be disposed in any suitable position for capturing fingerprintdata of a user. For example, the fingerprint scanner 242 may be disposedat a surface of a push-button ignition. The user may press the ignitionto start the vehicle and the system may capture the user's fingerprintto determine whether the user is authorized to start the vehicle. Thefingerprint scanner may be part of a push-button start of the vehicle ormay comprise a separate touch pad scanner. A microphone 244 may bedisposed in any suitable position for capturing audio data. For example,the microphone may be part of an existing telecommunications system ofthe vehicle or a dedicated microphone for the system.

The system may access or maintain or store or receive one or more accesslists identifying authorized users. The access data or list may containstored biometric data (or other reference data) against which captureddata may be compared or referenced to determine whether a user is anauthorized user. For example, the access data may contain facialrecognition features, and when the system captures image datarepresentative of the face or head region of a user, the system maycompare determined facial features of the captured image data to facialfeatures attributed to authorized users of the access data to determinewhether or not to grant access. Optionally, the access data may comprisedata that is not user-specific for granting access to the vehicle, suchas a list of authorized access codes, words, or phrases (received, forexample, via audio input or at a keypad at the side of the vehicle).

Optionally, the system maintains two separate access lists or datafields. The first access list is referenced to determine usersauthorized to enter or access the vehicle while the second access listis referenced to determine users authorized to operate the vehicle. Inother words, the door mode may verify users against the first accesslist while the cabin mode may verify users against the second accesslist. Optionally, the system may determine whether the user isauthorized for the first access list and the second access list via thedoor mode. That is, the system may determine that the user is authorizedto access and operate the vehicle prior to granting access to thevehicle. Optionally, the system may only grant access (e.g., unlock)certain doors of the vehicle based on the first and second access lists.For example, if a user is authorized to access the vehicle but notoperate the vehicle (i.e., is authorized by the first list but not thesecond list), the system may unlock passenger doors of the vehicle butlock the driver door of the vehicle.

When a user who is not authorized to enter and/or operate the vehicleattempts to do so, the system may lock the vehicle (when the vehicle isnot already locked) and send an alert to one or more authorized users ofthe vehicle (e.g., an owner of the vehicle). For example, the system(via the ECU) may transmit a wireless message that causes the owner orother authorized user of the vehicle to receive a notification on amobile device (e.g., a cell phone).

Thus, the vehicular access system provides additional security for avehicle by determining whether a user is authorized to enter a vehicleand whether a user is authorized to enable or operate a vehicle. Thesystem collects biometric information, such as facial recognition,fingerprints, voice data, etc., to verify whether a user is authorizedto enter the vehicle and whether a user within the vehicle is authorizedto operate the vehicle. When a user who is not authorized to enterand/or operate the vehicle attempts to do so, the system may notify oneor more authorized users of the vehicle along with taking additionalsafety precautions (e.g., locking the vehicle, sounding a horn, flashinglights, notifying law enforcement, storing captured data, etc.).

The camera or sensor may comprise any suitable camera or sensor.Optionally, the camera may comprise a “smart camera” that includes theimaging sensor array and associated circuitry and image processingcircuitry and electrical connectors and the like as part of a cameramodule, such as by utilizing aspects of the vision systems described inU.S. Pat. Nos. 10,099,614 and/or 10,071,687, which are herebyincorporated herein by reference in their entireties.

The system includes an image processor operable to process image datacaptured by the camera or cameras, such as for detecting objects orother vehicles or pedestrians or the like in the field of view of one ormore of the cameras. For example, the image processor may comprise animage processing chip selected from the EYEQ family of image processingchips available from Mobileye Vision Technologies Ltd. of Jerusalem,Israel, and may include object detection software (such as the typesdescribed in U.S. Pat. Nos. 7,855,755; 7,720,580 and/or 7,038,577, whichare hereby incorporated herein by reference in their entireties), andmay analyze image data to detect vehicles and/or other objects.Responsive to such image processing, and when an object or other vehicleis detected, the system may generate an alert to the driver of thevehicle and/or may generate an overlay at the displayed image tohighlight or enhance display of the detected object or vehicle, in orderto enhance the driver's awareness of the detected object or vehicle orhazardous condition during a driving maneuver of the equipped vehicle.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ultrasonic sensors or thelike. The imaging sensor or camera may capture image data for imageprocessing and may comprise any suitable camera or sensing device, suchas, for example, a two dimensional array of a plurality of photosensorelements arranged in at least 640 columns and 480 rows (at least a640×480 imaging array, such as a megapixel imaging array or the like),with a respective lens focusing images onto respective portions of thearray. The photosensor array may comprise a plurality of photosensorelements arranged in a photosensor array having rows and columns.Preferably, the imaging array has at least 300,000 photosensor elementsor pixels, more preferably at least 500,000 photosensor elements orpixels and more preferably at least 1 million photosensor elements orpixels. The imaging array may capture color image data, such as viaspectral filtering at the array, such as via an RGB (red, green andblue) filter or via a red/red complement filter or such as via an RCC(red, clear, clear) filter or the like. The logic and control circuit ofthe imaging sensor may function in any known manner, and the imageprocessing and algorithmic processing may comprise any suitable meansfor processing the images and/or image data.

For example, the vision system and/or processing and/or camera and/orcircuitry may utilize aspects described in U.S. Pat. Nos. 9,233,641;9,146,898; 9,174,574; 9,090,234; 9,077,098; 8,818,042; 8,886,401;9,077,962; 9,068,390; 9,140,789; 9,092,986; 9,205,776; 8,917,169;8,694,224; 7,005,974; 5,760,962; 5,877,897; 5,796,094; 5,949,331;6,222,447; 6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202;6,201,642; 6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452;6,822,563; 6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935;6,636,258; 7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229;7,301,466; 7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287;5,929,786 and/or 5,786,772, and/or U.S. Publication Nos.US-2014-0340510; US-2014-0313339; US-2014-0347486; US-2014-0320658;US-2014-0336876; US-2014-0307095; US-2014-0327774; US-2014-0327772;US-2014-0320636; US-2014-0293057; US-2014-0309884; US-2014-0226012;US-2014-0293042; US-2014-0218535; US-2014-0218535; US-2014-0247354;US-2014-0247355; US-2014-0247352; US-2014-0232869; US-2014-0211009;US-2014-0160276; US-2014-0168437; US-2014-0168415; US-2014-0160291;US-2014-0152825; US-2014-0139676; US-2014-0138140; US-2014-0104426;US-2014-0098229; US-2014-0085472; US-2014-0067206; US-2014-0049646;US-2014-0052340; US-2014-0025240; US-2014-0028852; US-2014-005907;US-2013-0314503; US-2013-0298866; US-2013-0222593; US-2013-0300869;US-2013-0278769; US-2013-0258077; US-2013-0258077; US-2013-0242099;US-2013-0215271; US-2013-0141578 and/or US-2013-0002873, which are allhereby incorporated herein by reference in their entireties. The systemmay communicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in U.S. Pat. Nos.10,071,687; 9,900,490; 9,126,525 and/or 9,036,026, which are herebyincorporated herein by reference in their entireties.

The sensor may, for example, comprise a radar sensor, such as an imagingradar sensor or sensors. The radar sensors of the sensing system eachcomprise a plurality of transmitters that transmit radio signals via aplurality of antennas, a plurality of receivers that receive radiosignals via the plurality of antennas, with the received radio signalsbeing transmitted radio signals that are reflected from an objectpresent in the field of sensing of the respective radar sensor. The ECUincludes a data processor for processing sensor data captured by theradar sensors.

The imaging radar and system may utilize aspects of the radars andsystems described in U.S. Pat. Nos. 10,866,306; 9,954,955; 9,869,762;9,753,121; 9,689,967; 9,599,702; 9,575,160; 9,146,898; 9,036,026;8,027,029; 8,013,780; 7,053,357; 7,408,627; 7,405,812; 7,379,163;7,379,100; 7,375,803; 7,352,454; 7,340,077; 7,321,111; 7,310,431;7,283,213; 7,212,663; 7,203,356; 7,176,438; 7,157,685; 6,919,549;6,906,793; 6,876,775; 6,710,770; 6,690,354; 6,678,039; 6,674,895 and/or6,587,186, and/or U.S. Publication Nos. US-2020-0150256;US-2019-0339382; US-2018-0231635; US-2018-0045812; US-2018-0015875;US-2017-0356994; US-2017-0315231; US-2017-0276788; US-2017-0254873;US-2017-0222311 and/or US-2010-0245066, which are hereby incorporatedherein by reference in their entireties.

The system may utilize aspects of driver monitoring systems and/or headand face direction and position tracking systems and/or eye trackingsystems and/or gesture recognition systems. Such head and face directionand/or position tracking systems and/or eye tracking systems and/orgesture recognition systems may utilize aspects of the systems describedin U.S. Pat. No. 9,405,120 and/or U.S. Publication Nos. US-2018-0222414;US-2017-0274906; US-2016-0209647; US-2016-0137126; US-2015-0352953;US-2015-0296135; US-2015-0294169; US-2015-0232030; US-2015-0092042;US-2015-0022664; US-2015-0015710; US-2015-0009010 and/orUS-2014-0336876, and/or U.S. patent application Ser. No. 17/450,721,filed Oct. 13, 2021 (Attorney Docket MAG04 P4306), which are herebyincorporated herein by reference in their entireties.

The system may utilize aspects of the biometric sensors and featuresdescribed in U.S. Publication No. US-2021-0309182, which is herebyincorporated herein by reference in its entirety.

The first and second ECU may comprise a central or single ECU thatprocesses image data captured by the cameras for a plurality of drivingassist functions and that also provides display of video images (asenhanced by the ECU) to a video navigation display screen in the vehicle(such as at an interior rearview mirror assembly or at a central consoleor the like) for viewing by a driver of the vehicle. The ECU and systemmay utilize aspects of the systems described in U.S. Pat. Nos.10,442,360 and/or 10,046,706, and/or U.S. Publication Nos.US-2021-0245662; US-2021-0162926; US-2021-0155167 and/orUS-2019-0118717, and/or International PCT Application No.PCT/US22/70062, filed Jan. 6, 2022 (Attorney Docket DON09 FP4371WO),which are all hereby incorporated herein by reference in theirentireties.

Changes and modifications in the specifically described embodiments canbe carried out without departing from the principles of the invention,which is intended to be limited only by the scope of the appendedclaims, as interpreted according to the principles of patent lawincluding the doctrine of equivalents.

1. A vehicular driver assist system, the vehicular driver assist systemcomprising: a sensor disposed at a vehicle equipped with the vehiculardriver assist system and viewing interior of the vehicle, the sensorcapturing sensor data; a display disposed at the vehicle and viewable bythe driver of the vehicle when the driver is driving the vehicle; anelectronic control unit (ECU) comprising electronic circuitry andassociated software; wherein the electronic circuitry of the ECUcomprises a processor for processing sensor data captured by the sensor;wherein the vehicular driver assist system, via processing at the ECU ofsensor data captured by the sensor, determines presence of a driver at adriver seat of the vehicle; wherein the vehicular driver assist system,via processing at the ECU of sensor data captured by the sensor,determines a position of at least a portion of the driver's head; andwherein the vehicular driver assist system, responsive to determiningthe position of the at least a portion of the driver's head, adjusts anorientation of the display based on the determined position of the atleast a portion of the driver's head.
 2. The vehicular driver assistsystem of claim 1, wherein the display comprises at least one selectedfrom the group consisting of (i) a cluster display, (ii) a head-updisplay, (iii) an infotainment display, and (iv) an interior rearviewmirror display.
 3. The vehicular driver assist system of claim 1,wherein the display comprises a plurality of displays disposed at thevehicle and viewable by the driver of the vehicle, and wherein eachdisplay of the plurality of displays comprises one selected from thegroup consisting of (i) a cluster display, (ii) a head-up display, (iii)an infotainment display, and (iv) an interior rearview mirror display.4. The vehicular driver assist system of claim 1, wherein the vehiculardriver assist system adjusts the orientation of the display based on thedetermined position of at least the portion of the driver's head toenhance viewability of the display to the driver.
 5. The vehiculardriver assist system of claim 1, wherein the sensor comprises a camerathat captures image data.
 6. The vehicular driver assist system of claim1, comprising a second display, wherein, responsive to determining theposition of at least the portion of the driver's head, the vehiculardriver assist system shifts display of information from the display tothe second display.
 7. The vehicular driver assist system of claim 1,wherein the vehicular driver assist system determines the position of atleast the portion of the driver's head by determining an eye gaze angleof the driver.
 8. The vehicular driver assist system of claim 1, whereinthe vehicular driver assist system determines position of at least theportion of the driver's head by determining the position of the driver'shead relative to predefined coordinates.
 9. The vehicular driver assistsystem of claim 1, wherein the vehicular driver assist system determinesthe position of at least the portion of the driver's head and adjuststhe orientation of the one of the display responsive to the vehiclebeing started.
 10. The vehicular driver assist system of claim 1,wherein the vehicular driver assist system episodically adjusts theorientation of the one of the display at regular intervals while thedriver drives the vehicle.
 11. The vehicular driver assist system ofclaim 1, wherein the vehicular driver assist system determines presenceof an occupant of the vehicle other than the driver, and wherein thevehicular driver assist system determines a position of the occupant'shead, and wherein the vehicular driver assist system, responsive todetermining the position of the occupant's head, adjusts an orientationof a second display based on the determined position of the occupant'shead to increase visibility of the second display for the occupant. 12.The vehicular driver assist system of claim 1, comprising a secondsensor disposed at the interior of the vehicle, wherein the vehiculardriver assist system, responsive to determining the presence of thedriver at the driver seat of the vehicle, enables a cabin mode, andwherein the vehicular driver assist system, when the cabin mode isenabled, and responsive to processing by the processor of second sensordata captured by the second sensor, determines that the driver isauthorized to operate the vehicle, and wherein responsive to determiningthat the driver is authorized to operate the vehicle, the vehiculardriver assist system generates an operation signal to allow the driverto operate the vehicle.
 13. The vehicular driver assist system of claim12, wherein the second sensor data comprises biometric information ofthe driver.
 14. The vehicular driver assist system of claim 12, whereinthe second sensor comprises one selected from the group consisting of(i) a camera, (ii) a fingerprint sensor, and (iii) a microphone.
 15. Thevehicular driver assist system of claim 1, comprising a second ECUcomprising electronic circuitry and associated software, wherein theelectronic circuitry of the second ECU comprises an image processor thatgenerates an output for displaying video images derived from thecaptured sensor data, and wherein the second ECU, responsive to anavigation function of the vehicle, generates a graphical overlay, andwherein the second ECU displays video images representative of thecaptured sensor data with the graphical overlay at the display.
 16. Thevehicular driver assist system of claim 15, wherein the graphic overlayis based on a current navigation route of the navigation function.
 17. Avehicular driver assist system, the vehicular driver assist systemcomprising: a camera disposed at a vehicle equipped with the vehiculardriver assist system and viewing interior of the vehicle, the cameracapturing image data; a display disposed at the vehicle and viewable bythe driver of the vehicle when the driver is driving the vehicle,wherein the display comprises at least one selected from the groupconsisting of (i) a cluster display, (ii) a head-up display, (iii) aninfotainment display, and (iv) an interior rearview mirror display; anelectronic control unit (ECU) comprising electronic circuitry andassociated software; wherein the electronic circuitry of the ECUcomprises a processor for processing image data captured by the camera;wherein the vehicular driver assist system, via processing at the ECU ofimage data captured by the camera, determines presence of a driver at adriver seat of the vehicle; wherein the vehicular driver assist system,via processing at the ECU of image data captured by the camera,determines a position of at least a portion of the driver's head; andwherein the vehicular driver assist system, responsive to determiningthe position of the at least a portion of the driver's head, adjusts anorientation of the display based on the determined position of the atleast a portion of the driver's head.
 18. The vehicular driver assistsystem of claim 17, wherein the vehicular driver assist system adjuststhe orientation of the display based on the determined position of atleast the portion of the driver's head to enhance viewability of thedisplay to the driver.
 19. The vehicular driver assist system of claim17, wherein the vehicular driver assist system determines the positionof at least the portion of the driver's head by determining an eye gazeangle of the driver.
 20. The vehicular driver assist system of claim 17,wherein the vehicular driver assist system determines position of atleast the portion of the driver's head by determining the position ofthe driver's head relative to predefined coordinates.
 21. A vehiculardriver assist system, the vehicular driver assist system comprising: animaging radar sensor disposed at a vehicle equipped with the vehiculardriver assist system and viewing interior of the vehicle, the imagingradar sensor capturing sensor data; a display disposed at the vehicleand viewable by the driver of the vehicle when the driver is driving thevehicle; an electronic control unit (ECU) comprising electroniccircuitry and associated software; wherein the electronic circuitry ofthe ECU comprises a processor for processing sensor data captured by theimaging radar sensor; wherein the vehicular driver assist system, viaprocessing at the ECU of sensor data captured by the imaging radarsensor, determines presence of a driver at a driver seat of the vehicle;wherein the vehicular driver assist system, via processing at the ECU ofsensor data captured by the imaging radar sensor, determines a positionof at least a portion of the driver's head; and wherein the vehiculardriver assist system, responsive to determining the position of the atleast a portion of the driver's head, adjusts an orientation of thedisplay based on the determined position of the at least a portion ofthe driver's head.
 22. The vehicular driver assist system of claim 21,wherein the vehicular driver assist system determines the position of atleast the portion of the driver's head and adjusts the orientation ofthe one of the display responsive to the vehicle being started.
 23. Thevehicular driver assist system of claim 21, wherein the vehicular driverassist system episodically adjusts the orientation of the one of thedisplay at regular intervals while the driver drives the vehicle.